Manipulator for rolling mills



I 6l N7 Feb' 221927 J. A. HELLSTROM 8 L MANIPULATOR FOR ROLLING MILLS 5l Sheets-Sheet 1 -Filed Feb. 27, 1925` l Feb. 22192-7.

J. A. HELLSTROM MANIPQLATOR For; ROLLING MILLS viled Feb. 27, 1'925 .u s all.

R @e mw l m W Feb. 22 1927.

J. A. HELLSTROM, MANIPULAT'OR FOR ROLLING MILLS Filed Feb. '27, 1925 5 Sheets-Sheet 3.

SIM/vento?,

' 1,6i8,707 Feb 22 1927 .1. A. HELLSTROM v A MANIPULATOR FOR ROLLING M'ILLS Filed Feb. 27, 1925 5 sheets-sheet 4 Feb. z2, 1927.

Filed Feb. 2, 1925 asheis-sheet fllifonmq f shaft which is adapted to travel laterally with the fingers and be driven by a station- Parental ift-l.v 2 2. 1927.

JOHN A; HELLSTOM, 0F WHEELING, WEST VIRGINIIA.

MANIP'ULATOR non' ROLLING Muts.

Applicatonled February 27, 1925. Serial No. 12,001.

This invention relates to an' improvement in a manipulator for rolling mills, the invention being more specifically an improved drive for the ingot manipulating lingers.

This inventionhas for its chief object the provision of a vertical movement to the manipulator fingers by a revolving'shaft.

Another object of the invention 1s' to impart a vertical movement to the lifting iingers throughthe medium of a revolving aryzmotive power.

A further object of the invention isto provide Va manipulator including pusher'bars carrying a deck which in turn carries a guard and the manipulator fingers, the pushcr bars and deck being -designed to move vlaterally across the feed table carrying with it the guard and lingers, the construction being such that it is readily accessible for repair or adjustment and is simple of construction.

Another object of the invention is the pro-v vision of the bridge carried by the pusher bars which carries the rocking shaft and universal drive whereby they are located to be protected from the heat of the ingot or slab or other'metal being worked upon.

A still further object of the invention is to provide a more uniform and positive motion to the ingot manipulating fingers through a more simplified construction than heretofore known.

Another and further object of the invention is the provision of a manipulator for use with the feed table of a rolling mill which is simple of construction and using a comparativelylsmall number of parts and which in operation is easily and simply controlled to impart the desired extent and direction of movements. 1

A further object of the invention is to provide a novel construction whereby a rocking motion is ilnparted to a Vshaft througlrthe medium of a revolving shaft.

Other further objects, novel features et construction and improved results of the invention will appear in thespeciiication and in the appended claims.

In the accompanying drawings wherein there is shown the preferred embodiment of my invention, Figure 1 is a top plan View of af portion of a rolling, mill showing the table .at one side of the reducing rolls and the imytherefore the. result is that the gears must proved manipulator drive and its associated parts applied thereto.

Figure 2 is a transverse sectional view of that side of the manipulator carrying the fingers.

Figure 3 is an enlarged detailed transverse sectional view of the universal drive.

Figure 4 is an enlarged detailed plan view, partly in section, showing the drive connection to the universal drive shaft.'

' Figure 5 is a plan view showing a modification of use of the universal drive.

Broadly a manipulator-is not new. Or-

dinarily the rocking shaft of a manipulator is located on top ofthe guard and is driven with'miter or beveled gears from a square shaft or the like. However the square shaft does not revolve but is rocked by means of links and levers connected to a crank shaft which is driven by motor4 through spur gears or the like.

The common construction just described has certain disadvantages. With the rocking shaft located immediately on the guard, the rocking shaft is subjected to the heat from the work with the result that the rocking shaft will soonbecome out of line withits bearings. Heretofore this has been overcome by putting iiexible joints or couplings on the rocker shaft between each of its bearmiter or beveled gear bearings in proper relation due to the warping of the guide and be cut with more clearance between their teeth than is considered good practice. The flexible joint in the rocking shaft therefore is an undesirable feature as the joints must be constructed with clearance and the continuous hammering and jolting to which they are subjected will add even more clearance with the result that themanipulator fingers will not each li-ft the same nor can they be kept in a straight line.

Furthermore the constructions heretofcre 100 used have `the disadvantage of rocking the square shaft by means of levers, connecting rods, crankshaft and gears or the like to a motor. The upkeep and loss motion -in this construction due to wear makes for- 'a hi h m5 upkeep with a poorer operation. Due to e fact that the square shaft rocks rather than rotates there results a. considerable amount of' wear -in the square hold in the rockin lever in which the square shaft slides. This ings. It is very difficult to keep the driving.

tab e rollers on the/down stroke as the momentum of the movin parts from the motor to the lingers, even 1 a limiting switch is in use, will not stop the crank shaft in each horizontal position and the wear of the square hole in the rocking lever will cause the shoulders of the fingers to project above the table rollers. This results often times in the in ot or work sticking against the fingers when eing passed throu h the shaping rolls;

With the exception o the improvements which will be hereinafter pointed out the rolling mill including the feed table and manipulator is of a usual` and common construction which comprises the reducing rolls '6 on either side of which is a feed table' composed of a plurality of rollers 7 'j ournalled or otherwise suitably supported in the side bars or frame 8. of the table and driven through the medium of the bevelled gea-rs 9 in the usual or customary manner. the feed tables is shown in the drawings, it

being understood of course that a table similar to the one shown is provided at the op posite side of the reduction rolls.

The present embodiment of mill shown consists lof a pushirg 'and tilting unit located at one side of the reduction rolls. The

pushing unit is located at the left side and the tilting unit at the right side of the feed table. It may be advantageous to reverse the' positions of these units depending upon the condition of the mill `lay out in which vthey are to be utilized. This reversal of parts can Voi? course be easily and simplyl accomlished.- As heretofore mentione t ere may be a mani ulator at both sides of the shapin rolls sothat the ingot, slab or other wor can be pushed or turned on either entering or deliveryl side of the working rolls. Additionally to meet thespecial requirements the manlpulator at one side of the shaping rolls may be a pushin and tilting unit while `A the manipulator at t evopposite side' may 'as maybe esired. In

comprise twpushing units. It will of course be understo that wheremanipulators are used at both sides of the shapln rolls orV bars is soconnected that the guards on both umson. V

' The mill `shown, in the drawings is two high, that is the bottom shaping roll is staf tionary while the .top roll isgmoved up and down whereby an ingot is reduced to a bloom, bille slab beam, etc., or other sha togtprodlcln slabs t e guards are pushed er o andfonn a continuous 'de on both sides of the shapinglrolls whi 'prevents the slabs theo l ion ofedg-V Only one ot'-l d the slab ing them.Vr The turning or manipulating fingersare operated La number of times during the reduction of an ingot to a particular shape, this tiltin or turning takingl place at a position on t 'e feed table dependent on the locationhin the shaping rolls of the particular pass it is desired Vthat the ingotenter.

When turning an ingot the pushing unit and guard is moved towards the ingot and during the turning thereof by the manipulator fingers the tilting unit is pushed forward so that when theingot vis partly tilted it will be held between the guards of the ushing and tilting. units. The pushing unit 1s then withdrawn from the ingot and the tilting unit pushed forward so as to turn the.

mounted 1n front of the deck 11 which is, supported upon the pusher bars 12 while the pus U unit comprises the guard 13 mount ed at t ie front endsof 'the pusher bars 14. The pusher bars and vtheir guards are arranged to move laterally over the feed table rolls. The movementV of the tilting unit pusher bars is ei'ected through the gear l5 aving engagement with the rack 16 of the bars. The gear 15 isdriven by a suitable motor 17, gears 18 and shaft 19. The pusher bars are provided with rollers 20 and 21 which run on V-shaped tracks 22. Attention is directed to the fact'thht the roller 20 is 'below the track while the roller 21 is above the track and journalled in a suitable i housing 23 on the top ofthe pusher bar.

The movement of the pusher bars and guard'of the pushing unit is accomplished in 4practically tne same manner, in this instance lll the driving 4ower being a motor 24, gears 25,

shaft 26, t e pusher bars being provided with racks and wheels adapted to engage a V-shapedtrack in a similar fashion as the c struction which is above described in re- 'spect to the tilting unit. rolling mill the `power shaft for t e pusher located, as between the pusher Suitabl he4 tilting unit there is provided bars lof t a stationary base 28. This motor is the driving power for the manipulator fingers. The

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'a suitablemotor 27 which is fastened upon power is transmittedto the fingers through v the motor shaft 29 Acarrying a-gear 30 which meshes with the ar31.' These gears are within-a suitable ousing 32 mounted upon astationarybase33.. .i y A gear 31 is keyed to the hub 34' which hub is -rovided'centrally with a square hole adapted) to slidably receive the square shaftl 35. The housing 32 for the gears ismade in two parts and to form bearings 36 for the hub. Preferably the hub is provided at its 'ends with bronze bearings 37 engaging the housing bearings 36. y

The motor base 28 and gearing base 33 are in a horizontal alignment with the universal drive D .mounted on the bridgeor deck 11-so it is possible to connect one end of the shaft to the universal drive. To take care of any wear or in the event that the parts do not remain in alignment there is provided a flexible coupling 38 between the motor 27 and the( gear 30` and a flexible coupling 39 between the shaft 35 and the univers-al drive.

Bv reference to the-drawings, particularly Figures 2 and 3 it will be seen that the universal drive is enclosed in a two 'part housing 40 mounted upon the bridge or deck 11.

The end of the housing adjacent the uni-.- versal coupling 39 is reduced or constructed to receive a bearingy 41 in whichv is rotatably supported the stub shaft 42 of the wheel 43 of the universal drive. The connection between the shaft 35 and the stub shaft 42 is made at the flexible coupling 39.

Mounted upon lthe bridge 11 in suitable bearings 44 there is\a rocker shaft 45 which passes through the universal drive housing 40 which is positioned. intermediate its length.

. in the housing of the universal drive carries a hub 46 keyed to the Ashaft -as at 47 andA provided with outwardly extending trunnions 48. Apitlnan 49` provided with a kball-shaped end 30 which engages the ro? tatable bearing 51 carriedby the inner face -of the' wheel 43. The outer perimeter of the 'Wheel43 is supported on suitable roller bearings 52 positioned'between the wheel 43 and thehdusing 40. The other end of the pitman 49 is forked-shape being provided with a yoke portion 53 to permit the placing ofthe yo'ke over the hub trunnion 48.v The yoke 53 is held `in locked position 'by suitable pins V54. As clearly 'appears' thezpitman is pivotally supported by the trunnions 48, suitmotion to the shaft 445 and the distance" able bronze bushings 55 being interposed be tween the trunnions and the `pitman yoke.

As the drive is entirely enclosed in the housing 40 it' can runin oil or grease to eliminate wear of the revolving parts. The housing is provided with a removable cover 56 to Apermitv access to the parts.

11: It will be seen that when the wheel43is revolved in its connection through the shaft 35 'that the ball end 50 --of the pitma'n will be rotated and that the. forked endof the pitman 49 -will turn on the hub trunnio'ns 48. The foregoing will impart a' rocking through whichithe' shaft 45 is movedl will depend on the distance'of the ba'll end 50- of the pitman from the center line of the wheel 43. Duringlthe rotation ofthe wheel That portion of the shaft with'l to the outer end of the rocker shaft arms 59 which through their attachment to the rocker :shaft 45 support the fingers in position. The lower end ofthe fingersvr() extend to a point below the table rolls 7 and are provided with Shoulders 61 which are normally beneath the top line of the table rolls so that when 'the fingers are 'lifted these yshoulders will enga-ge beneath the ingot or work 62 and turn the .same upon the table. The manner of operation of the fingers upon the work is illustrated in Figure 2 of the drawings.

Itwill now be quite evident that the pushl er bars move the guards across thetable. In respect to the tilting' unit the pusher bars also movethe bridge or deck laterally across the table carrying therewith the manipulator fingers, rocking shaft and rocking shaft arms and the universal drive. Through reason of the flexible coupling 39 and square shaft 35 being connected to the universal drive the .shaft 35 will move laterally with the bridge the square shaft sliding through the square opening in the vhub 32 of the driving gear 31. l

It will be further seen that one revolution ,of the square shaft 35, through the universal drive, rock shaft and rock-shaft arms will lift the manipulator fingers up andi down.

fThrough reasonl of the sliding connection of the square shaft 35 it is possible, from a stationary motor gear5 to operate the manipular tor fingers at anyposition of the guard or bridge on the table.

The improved constructionl of the inven tion here adds many advantages. The bridge or deck on which the rocking shaft and. universal drive are located is protected vfrom the heat of the ingo-t orfwork and therefore will f not warp. There is no need for the. flexible joints or couplings between the bearings of Ithe rocking shaft, no gears,` levers, links or the like `as in the common construction and therefore lthere is--considerable less weight to the device. By reducing the weight there is less momentum of the moving parts which lift the fingers. The 'complete revolving'. of

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the square shaft during the operation bfithe fingers'will produce amo-re uniform. motion of the fingers and there will be no loss of distance inn the stroke Aor li'ft'of the fingers due to any wear in the square hole through which the square shaft slides. It is' also believed that the particular constructioni'of- Vshaped track4 for the pusher'bars together with the V-shaped wheels, one ofvvhich is mountedl e `below the pusher bars and the other-in the housing upon the top of the pusher bars, is new and operates to better advantage. Heretoforeit is believed'to have been thefpractice for vthe pusher bar to be provided "with a bronze slide in place of the wheel 21 and al` though a wheel is used and positioned such as the wheel 20 the same is rotated on a flat surface and to eliminate side motion'to the pushin bars bronze linings have been used on the si es of the pushing bars. Furthermore there is present in this invention at the front end of the pusher bars spring bumpers 63 .to prevent the manipulator guard and lingers. from striking the table girder on the return stroke of the guard. y I

Attention is directed to the fact that the universal drive principle of this invention can be used to solve a number of mechanical problems. For instance, as appears in Figure 3 of the drawing the stlib shaft 42 can carry a gear or coup ing 64 which may be driven by a motor or anyother suitable motive power.

In Figure 5 appears a modified'form of the invention showing another"-manner -in which the universal drive principle, wherein a sliding motion is impartedlto one shaft by another rotating shaft, is utilized.

In the modified form of the invention the universal drive D the construction of which has heretofore been described has connection with a stub shaft 65 taking the place Vof the rocker shaft of the manipulator. The stub shaft 42 of the drive is extended to an outboard bearing 66 and driven through the medium of a suitable motor 67 and gears 68 and 69. The connectioncan be made to one or both ends ofthe shaft 65 as lclearly appears through the medium of couplings 70 and shafts 71.' A rocking motion is of course imparted to the shafts 71` and this in turn by a suitable connection, for example `as shown; through a toothed quadrant'72, engaging a rack 73 orthe like adapted to ,slide in a guideway 74, there can be produced a fixed sliding travel.` By the use of a two arm connection with the shafts 71 there could be produced both a sliding` or tion and that the driving arts of the iingers is entirely above the rol er table. j

Having thus described my invention what I claim and desire to secure by Letters Pat-` ent is '1. In combination with the feed table of a rolling mill, a manipulator including a side guard` adapted to be moved laterally over the feed table, Va plurality -of turning 'bars for turning the work on the table, said bars being mounted for endwise. movement 1n vertlcal planes, a rockmgrshaft and a driven revolvingshaft, a'universal connection between said shafts, and said turning bars having connection with said rocking shaft, whereby endwise' movement is im.-

parted to the bars.

2; In combination with the feed table of a rolling mill,.a rocking-shaft a guard mov able laterally over the feed table, a plurality of turning bars supported by the rocking shaft and adapted to turn the work on the table, a'drivenrevolving shaft for. imparting endwise movement in vertical lanes to the turning bars, and a universa connection interposed between said revolving shaft and said rocking shaft.

3. In combination with .the feed table of 'a rolling mill, a pluralit4 of turning bars adapted to turn' the wor on the table, a rocking shaft for imparting Ve'ndwise o'vement in vertical planes to the turnin bars,

the turning bars and rocking shaft ada ted tobe moved over the table, a revolvin s aftvside guard and deck, adapted to be moved laterally over the feed table, a rocking shaft mounted on said deck, turning fingers operatively connected with 'said rocking shaft and movable therewith for turning the work on the table, a rotating shaft driven by stationary motive means, a universal connection, and said rotating shaft and Vrockin shaft operatively connected through sai universal connection, whereby a rocking movement is imparted to the rocking shaft by said revolving shaft.

5. In combination with the feed table of a rolling mill, a rocking-shaft, a plurality of turning fingers operatively' connected withA the rocking shaft and adapted for lateral movement across said table for turning the work thereon, a revolvingshaft for im artlng a rocking movement to said roc 'ng shaft, a universal connection,- said universalconnection inter osed between said revolving and said roc 'n shafts,and said rotatin g shaft having sli ing positive engagement with a stationary motive power, whereby ,safridrevolving shaft is movable with the .,Arockmg shaft and turning bars.

, 6. In eombinationwith the feed tableof a rolling mill, algguard land deck movable laterally over they table, guides 'su porting the guard and deck and extendingl) outwardly over the table, turning'barsfor turnin the Work on the table movable later` ally with the guard, meansA for elevatin the turning bars comprising a'rockingsha mounted on the ldeckatthe rear ofthe guard and parallel therewith, the turning aterally plane.

Y engagement with the square opening o bars operatively connected to the said rockying shaft, a universal connection, a driven revolving shaft, and said rocking shaft and revolving shafty operatively connected through the medium of said universal connection, whereby the revolving shaft imparts a rocking motion to the rocking shaft.

7. In combination withthe feed table of a rolling mill, a guard movable laterally over the table, a deel; positioned behind sa-.id guard, said guard aud deck supported by guides extending laterally outward from the feed table, a rocking, shaftmounted on said 8. In combination with the feed-table of a rolling mill, a rocking-shaft, turning bars for turning the work on the 'table having operative engagement with and Isupported by the rock-shaft, said rock-shaft and turning bars adapted to be moved laterally over the table, a'revolving member in fixed posi; tion having a. square opening therein, a shaft having a square port'on adapted for t e revolving member andv adapted to be. rotated thereby, and operative engagement begagement between the square shaft and the rocking shaft for imparting a rocking motion to the rock-shaft.

9. In combination with the feed-table o f a `rolling mill, a manipulator including a side deck supported by and adaptedl guard and to be moved laterally over the feed-table by guides extending laterally outward from the deck, the guide provided with grooved wheels for engaging a track, means to actuatethe guides, a plurality of turning bars operatively connected with and supported by a rock-shaft mounted on said deck, a revolving shaft for impartmg a v rocking movement to -said yroek shaft, andv said rotating shaft having sliding positive engagement Y whereby said revolvingshaft is movable and progresses with the rock-shaft and deck.

` a rolling mill,

with a fixed motive' power,

10. In combination with the feed-table of a rolling mill. a guard movable laterally over the feed-table and carrying a rock Shaft, turning bars operatively connected with and supported by said rock-sh aft and adapted to turn the work on the table, a revolving shaft, means for driving said revolving shaft, and a universal connection between the revolving shaft and rock-shaft, whereby said revolving shaft imparts a rocking motion to the rockshaft for imparting endwise movement to the turning bars.

11. In eoml 'nation with the lfeed table of a rollingr mill. a guard movable laterally over the feed table, a bridge back of said guard and movable therewith,a rock shaft mounted on the said bridge, manipulating fingers adapted to turn the work on the table, said manipulating fingers supported by and actuated entirely by said Vrock shaft, a revolving shaft, means for driving said revolving shaft, and a universal connection ybetween said revolving and rock shaft, whereby said revolving shaft imparts a roclnng motion to the rock shaft for imparting endwise movement 'to the turning bars.

12. The combination with the feed table of a rolling mill, a guard movable laterally over the feed table, a rock shaft, mani ulating fingers operatively connected wit and supported by said rock shaft and adapted to turn the work on the table, revolving and driving means for said rock shaft, a universal eonnectionbetween said rock shaft and said revolving shaft, and said rock shaft and universal connection being mounted upon a bridge back of said guard, whereby Said parts are removed from the heat zone of the feed table.

13. In combination with the feed table of a rock shaft mounted to be moved laterally over said table, a revolving power shaft, universal connection between said shafts whereby a rocking motion is imparted to the rock shaft, and manipulating fingers supported and actuated solely by Said rock shafty for turning the work on the table.

14. A construction such as dened in claim 13, the lmanipulator fingers having a single crank connection with the rock shaft and Supported in an extended position in front thereof.

signature. A

JOHN A. v:HELLSTROM. 

